For the spheric RRRR linkage determine whether the crank is free to turn through a complete revolution.

If so, find the angle of oscillation of link 4 and the advance-to-return ratio.

Figure P10.10 RO2O = 150 mm, RO4O = 225 mm,RAO2 = 37.5 mm, RBO4 = 262 mm, RBA = 412 mm, θ2 = 120◦, and ω2 = 30kˆ rad/s.